MoveIt! package

tags: ros moveit robot simulator vsclab

Outline

• MoveIt! package
• Installation
• Demo Program
• 匯入台達機械手臂 URDF 至 MoveIt2!
  • 環境安裝
  • tf 套件介紹
  • URDF 介紹
  • Create MoveIt Configuration Package
    • [2022/10/19 - …] ROS 1 Noetic
    • [2022/11/16 - …] ROS 2 foxy (移至Humble開發)
    • [2023/01/05 - …] ROS 2 humble
  • ROS control/controller
  • MoveIt!/Planners
  • Self-Collision Checking Results

Installation

• MoveIt 2 Source Build - Linux

  缺點：編譯時間過長

• MoveIt 2 Binary Install - Linux
• Doc: Getting Start

• 2022/9/25:
  MoveIt-humble 的 binary 版本尚未推出，因此降回使用 foxy 版，編譯速度較快

Demo Program

• Doc: MoveIt Quickstart in RViz
• URDF and SRDF Introduction

匯入台達機械手臂 URDF 至 MoveIt2!

環境安裝

由於 ROS 2 foxy 沒有 "MoveIt Setup Assistant"，因此使用 MoveIt 1 Noetic (需先安裝 ROS 1 Noetic)

• ROS 1 Noetic Installation
• MoveIt 1 Noetic - Getting Start
• MoveIt 1 Noetic - MoveIt Setup Assistant

tf 套件介紹

• ROS 2 foxy - Tf2

URDF 介紹

• ROS wiki - URDF Tutorials
• ROS 2 foxy - URDF Tutorials

Create MoveIt Configuration Package

[2022/10/19 - …] ROS 1 Noetic

1. Exporting URDF from SOLIDWORKS and Simulate the Robotic Arm in ROS using Moveit, Gazebo and Raviz with Inverse Kinamatics - YouTube Playlist
   • 利用 SOLIDWORKS 匯出 URDF package
   • 利用 MoveIt Assistance 匯出 moveit package
   其他教學

   • From SolidWorks to URDF & MoveIt! (Part 3 - MoveIt! Setup)

• [roslaunch ERROR]
  Could not load controller 'joint_state_controller' because controller type 'joint_state_controller/JointStateController' does not exist.
  • Solution
    $ sudo apt-get install ros-noetic-joint-state-controller ros-noetic-joint-trajectory-controller
• [Gazebo]
  [ERROR] [1667645588.171038399, 0.126000000]: No p gain specified for pid. Namespace:gazebo_ros_control/pid_gains/Joint1
  • Solution

• [URDF]
  • 如何將關節旋轉反向？ URDF/XML/joint - ROS Wiki

    將 urdf/joint/<axis> 之數值變號，即可將關節旋轉反向。

• [Rviz]
  • 如何載入/儲存Rviz設定檔？
  ​​​​<launch>
  ​​​​  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find delta_model)/rviz/urdf.rviz" />
  ​​​​</launch>
  

• [Gazebo]
  • Why does my robot shake / wobble?
    • 調高 joint/limit/effort，數值參考 ur10

---

機械手臂模擬程式執行流程(ROS 1 Noetic)

$ cd ~/delta_ws           # 進入工作目錄
$ catkin_make             # 編譯
$ source devel/setup.bash # source the overlay

# 預覽台達機械手臂(無物理引擎)
$ roslaunch delta_model display.launch

$ roslaunch moveit_delta_sim demo_gazebo.launch

# 模擬台達機械手臂運動規劃(含物理引擎＋控制器)
$ roslaunch moveit_delta_sim full_delta_sim.launch

[2022/11/16 - …] ROS 2 foxy (移至Humble開發)

機械手臂模擬程式執行流程(ROS 2 foxy)

# 進入工作目錄
$ colcon_cd delta_ros2_ws # by colcon_cd
$ cd ~/delta_ros2_ws      # manually

# 編譯
$ colcon build

# 載入套件環境
$ source install/setup.bash

# 預覽台達機械手臂(無物理引擎)
$ ros2 launch src/delta_model/arm.launch.py

# 模擬台達機械手臂運動規劃(含物理引擎＋控制器)
$ roslaunch moveit_delta_sim full_delta_sim.launch

URDF Launcher 開發流程

1. 參考以下官方範例來撰寫 [ROS 2 Launch File]
   (https://docs.ros.org/en/foxy/Tutorials/Intermediate/Launch/Creating-Launch-Files.html)
   • urdf_tutorial / launch / display.launch.py
   • urdf_tutorial / launch / display.launch.py
2. 將URDF路徑參數指向DRV70L

MoveIt2 Launcher 開發流程

• GitHub Issue: Custom URDF File to use with Moveit2

[2023/01/05 - …] ROS 2 humble

機械手臂模擬程式執行流程(ROS 2 humble)

# 進入工作目錄
$ colcon_cd delta_ros2_ws # by colcon_cd
$ cd ~/delta_ros2_ws      # manually

# 編譯
$ colcon build

# 載入套件環境
$ source ~/delta_ros2_ws/install/setup.bash
$ source ~/ws_moveit2/install/setup.bash

# 預覽台達機械手臂(無物理引擎)
$ ros2 launch delta_model display.launch.py

# (Terminal 1) 開啟台達機械手臂 MoveIt 環境
$ ros2 launch moveit2_delta demo.launch.py rviz_config:="src/moveit2_delta/rviz/moveit.rviz"

# (Terminal 2) 開啟 MoveIt 命令控制程式
$ ros2 run hello_moveit hello_moveit_delta
$ ros2 launch hello_moveit collision_demo.launch.py

# 模擬台達機械手臂運動規劃(含物理引擎＋控制器)
# $ roslaunch moveit_delta_sim full_delta_sim.launch

MoveIt2 (humble) Launcher 開發流程

Step 1. 參考以下範例修改 delta_model 的CMakeLists.txt與package.xml

• elite_robot_ros2 - GitHub

Step 2. 編譯 URDF 檔，打開 moveit_setup_assistant

$ cd ~/delta_ros2_ws
$ colcon build
$ source install/setup.bash
$ ros2 run moveit_setup_assistant moveit_setup_assistant

Step 3. Moveit Setup Assistant

• Moveit Setup Assistant 設定教學
• Package 輸出位置
  /home/deltabot/delta_ros2_ws/src/moveit2_delta

Step 4. 編譯並開啟範例程式

$ cd ~/delta_ros2_ws
$ colcon build
$ source install/setup.bash
$ ros2 launch moveit2_delta demo.launch.py

參考教學

• 动手学Moveit2 | 运行配置好的机械臂功能demo
• Your First C++ MoveIt Project
• Visualizing In RViz
• use_sim_time - GitHub

使用 MoveIt C++ API 建立軌跡規劃

API Docs:

• LINK 1

其他教學

• ROS Moveit範例程式1 - iT 邦幫忙::一起幫忙解決難題，拯救 IT 人的一天
• 可解決 ctrl-c 無法退出問題 - Integrating launch files into ROS 2 packages
• 如何儲存軌跡資訊

• config/*_planning.yaml 記得修改 Joint Group 名稱，才能載入 move_group_node, rviz2_node

---

ROS control/controller

• ros_control - ROS Wiki
• ROS探索总结（三十一）——ros_control - 古月居

# List Controller Types
$ rosservice call controller_manager/list_controller_types

# Show Pos, Vel of joints
$ rostopic echo /joint_states

TODO:

1. Gazebo模擬震顫問題
2. Gazebo機械手臂顯示問題

MoveIt!/Planners

• Planners Available in MoveIt

Self-Collision Checking Results